std_msgs/Header header
geometry_msgs/Point PError
geometry_msgs/Point VError
geometry_msgs/Point POut
geometry_msgs/Point POut_P
geometry_msgs/Point POut_I
geometry_msgs/Point POut_D
geometry_msgs/Point VOut
geometry_msgs/Point VOut_P
geometry_msgs/Point VOut_I
geometry_msgs/Point VOut_D
geometry_msgs/Point AOut
geometry_msgs/Point TotalOut
# std_msgs/Float64 P_
# std_msgs/Float64 model_error
# std_msgs/Float64 thr_norm
# std_msgs/Float64 est_a_norm
# std_msgs/Float64 base_thrust
# std_msgs/Float64 var
# geometry_msgs/Point acc_in_w
# geometry_msgs/Quaternion imu_q
# geometry_msgs/Quaternion odom_q
